#ifndef GYRO_FLOW_PORT_TRACK_H
#define GYRO_FLOW_PORT_TRACK_H
#include "utils/BasicType.h"


void updateQuaternionGyr(Quaternion& q, float& norm_gyr, float gx, float gy, float gz, float deltaT);


void updateQuaternionComp(Quaternion *q, float norm_gyr, float gx, float gy, float gz,
                          float ax, float ay, float az, float deltaT);

Pose3 quaternion2EularAngles(Quaternion q);

#endif //GYRO_FLOW_PORT_TRACK_H
